Detailed Description

Include this header to access the complete CiA 404 API. It conditionally includes the sub-module headers for each function block based on the cos_conf.h configuration:

Function block	Header	Enabling define
Analog input	cos404ai.h	COS_DS404_AI
Analog output	cos404ao.h	COS_DS404_AO
Controller	cos404co.h	COS_DS404_CO
Digital input	cos404di.h	COS_DS404_DI
Digital output	cos404do.h	COS_DS404_DO

Set each define to the number of channels (or groups) required, or to 0 to exclude that function block from the build. See CANopen Device Profile CiA 404 for integration details.

Include dependency graph for cos404.h:

Macros
#define	COS_DS404_VERSION_MAJOR 2
#define	COS_DS404_VERSION_MINOR 10

Enumerations

enum Cos404_Channel_e {
eCOS404_CHANNEL_1 = 0 ,
eCOS404_CHANNEL_2 ,
eCOS404_CHANNEL_3 ,
eCOS404_CHANNEL_4 ,
eCOS404_CHANNEL_5 ,
eCOS404_CHANNEL_6 ,
eCOS404_CHANNEL_7 ,
eCOS404_CHANNEL_8 ,
eCOS404_CHANNEL_9 ,
eCOS404_CHANNEL_10 ,
eCOS404_CHANNEL_11 ,
eCOS404_CHANNEL_12 ,
eCOS404_CHANNEL_13 ,
eCOS404_CHANNEL_14 ,
eCOS404_CHANNEL_15 ,
eCOS404_CHANNEL_16 ,
eCOS404_CHANNEL_17 ,
eCOS404_CHANNEL_18 ,
eCOS404_CHANNEL_19 ,
eCOS404_CHANNEL_20 ,
eCOS404_CHANNEL_21 ,
eCOS404_CHANNEL_22 ,
eCOS404_CHANNEL_23 ,
eCOS404_CHANNEL_24
}

Functions
uint16_t	Cos404_GetActiveDataType (void)
uint8_t	Cos404_SetActiveDataType (uint16_t uwDataTypeV)

Enumeration Type Documentation

◆ Cos404_Channel_e

enum Cos404_Channel_e

This enumeration provides channel values used in conjunction with CiA 404. Note that the maximum channel value is defined by one of the following definitions in the file cos_conf.h

COS_DS404_AI : if the analog input function block is supported
COS_DS404_AO : if the analog output function block is supported

Enumerator
eCOS404_CHANNEL_1	Channel 1
eCOS404_CHANNEL_2	Channel 2
eCOS404_CHANNEL_3	Channel 3
eCOS404_CHANNEL_4	Channel 4
eCOS404_CHANNEL_5	Channel 5
eCOS404_CHANNEL_6	Channel 6
eCOS404_CHANNEL_7	Channel 7
eCOS404_CHANNEL_8	Channel 8
eCOS404_CHANNEL_9	Channel 9
eCOS404_CHANNEL_10	Channel 10
eCOS404_CHANNEL_11	Channel 11
eCOS404_CHANNEL_12	Channel 12
eCOS404_CHANNEL_13	Channel 13
eCOS404_CHANNEL_14	Channel 14
eCOS404_CHANNEL_15	Channel 15
eCOS404_CHANNEL_16	Channel 16
eCOS404_CHANNEL_17	Channel 17
eCOS404_CHANNEL_18	Channel 18
eCOS404_CHANNEL_19	Channel 19
eCOS404_CHANNEL_20	Channel 20
eCOS404_CHANNEL_21	Channel 21
eCOS404_CHANNEL_22	Channel 22
eCOS404_CHANNEL_23	Channel 23
eCOS404_CHANNEL_24	Channel 24

Function Documentation

◆ Cos404_GetActiveDataType()

uint16_t Cos404_GetActiveDataType ( void )

Get the active data type for CiA 404 process and field values.

Returns

One of the following values from CoDT_e:

eCO_DT_INTEGER16 (3) — data type int16_t
eCO_DT_INTEGER32 (4) — data type int32_t
eCO_DT_REAL32 (8) — data type float

Returns the active data type of the CiA 404 module. Only the three types listed above are supported; the active type is set via Cos404_SetActiveDataType() and controls which object indices are used for AI/AO process and field values (e.g. 7130_h for int16_t, 9130_h for int32_t, or 6130_h for float).

◆ Cos404_SetActiveDataType()

uint8_t Cos404_SetActiveDataType ( uint16_t uwDataTypeV )

Set the active data type for CiA 404 process and field values.

Parameters

[in] uwDataTypeV Value from CoDT_e that corresponds to data type

Returns: eCosSdo_WRITE_OK on success or any other value from CosSdo_e in case of an error

This function is used to setup the active data type of the CiA 404 profile. The supported values are:

eCO_DT_INTEGER16 : 3
eCO_DT_INTEGER32 : 4
eCO_DT_REAL32 : 8

This parameter has impact on data elements for process and field values of CiA 404 AI and AO.